Updated I2C testhal for STM32F1x.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9174 35acf78f-673a-0410-8e92-d51de3d6d3f4

3 files changed, 46 insertions, 11 deletions

diff --git a/testhal/STM32/STM32F1xx/I2C/.project b/testhal/STM32/STM32F1xx/I2C/.project
index 4bc646560..2187d1f47 100644
--- a/testhal/STM32/STM32F1xx/I2C/.project
+++ b/testhal/STM32/STM32F1xx/I2C/.project
@@ -27,7 +27,7 @@
 		<link>

 			<name>os</name>

 			<type>2</type>

-			<locationURI>CHIBIOS/os</locationURI>

+			<locationURI>CHIBIOS</locationURI>

 		</link>

 	</linkedResources>

 </projectDescription>

diff --git a/testhal/STM32/STM32F1xx/I2C/Makefile b/testhal/STM32/STM32F1xx/I2C/Makefile
index cc1d094f5..d6ae323ce 100644
--- a/testhal/STM32/STM32F1xx/I2C/Makefile
+++ b/testhal/STM32/STM32F1xx/I2C/Makefile
@@ -92,7 +92,7 @@ include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f1xx.m
 # HAL-OSAL files (optional).

 include $(CHIBIOS)/os/hal/hal.mk

 include $(CHIBIOS)/os/hal/ports/STM32/STM32F1xx/platform.mk

-include $(CHIBIOS)/os/hal/boards/OLIMEX_STM32_P103/board.mk

+include $(CHIBIOS)/os/hal/boards/OLIMEX_STM32_103STK/board.mk

 include $(CHIBIOS)/os/hal/osal/rt/osal.mk

 # RTOS files (optional).

 include $(CHIBIOS)/os/rt/rt.mk

diff --git a/testhal/STM32/STM32F1xx/I2C/lis3.c b/testhal/STM32/STM32F1xx/I2C/lis3.c
index 464c29b09..8217798d6 100644
--- a/testhal/STM32/STM32F1xx/I2C/lis3.c
+++ b/testhal/STM32/STM32F1xx/I2C/lis3.c
@@ -22,14 +22,20 @@
  */

 

 #include <stdlib.h>

+#include <math.h>

+#include <string.h>

 

 #include "ch.h"

 #include "hal.h"

 

 #include "lis3.h"

 

+/* device I2C address */

 #define addr 0b0011101

 

+/* enable single byte read checks. Note: it does not work on STM32F1x */

+#define TEST_SINGLE_BYTE_READ     TRUE

+

 /* autoincrement bit position. This bit needs to perform reading of

  * multiple bytes at one request */

 #define AUTO_INCREMENT_BIT (1<<7)

@@ -59,7 +65,7 @@ void lis3Start(void){
   /* sending */

   i2cAcquireBus(&I2CD1);

   status = i2cMasterTransmitTimeout(&I2CD1, addr,

-                          accel_tx_data, 4, accel_rx_data, 0, tmo);

+                          accel_tx_data, 4, NULL, 0, tmo);

   i2cReleaseBus(&I2CD1);

 

   osalDbgCheck(MSG_OK == status);

@@ -68,25 +74,54 @@ void lis3Start(void){
 /*

  *

  */

-#include <math.h>

+static void raw2g(uint8_t *raw, float *g) {

+  int16_t tmp;

+

+  for (size_t i=0; i<3; i++){

+    tmp = raw[i*2] | (raw[i*2+1] << 8);

+    g[i] = (float)tmp / 16384.0; /* convert raw value to G */

+  }

+}

+

+/*

+ *

+ */

 void lis3GetAcc(float *result) {

   msg_t status = MSG_OK;

   systime_t tmo = MS2ST(4);

-  size_t i = 0;

-  int16_t tmp;

 

+  /* read in burst mode */

+  memset(accel_rx_data, 0x55, sizeof(accel_rx_data));

   accel_tx_data[0] = ACCEL_OUT_DATA | AUTO_INCREMENT_BIT;

   i2cAcquireBus(&I2CD1);

   status = i2cMasterTransmitTimeout(&I2CD1, addr,

                           accel_tx_data, 1, accel_rx_data, 6, tmo);

   i2cReleaseBus(&I2CD1);

-

   osalDbgCheck(MSG_OK == status);

+  raw2g(accel_rx_data, result);

 

-  for (i=0; i<3; i++){

-    tmp = accel_rx_data[i*2] + (accel_rx_data[i*2+1] << 8);

-    result[i] = tmp;

-    result[i] /= 16384; /* convert raw value to G */

+#if TEST_SINGLE_BYTE_READ

+  float accel_single_byte_check[3];

+  const float check_threshold = 0.1;

+

+  /* read data byte at a time */

+  memset(accel_rx_data, 0x55, sizeof(accel_rx_data));

+  accel_tx_data[0] = ACCEL_OUT_DATA;

+  i2cAcquireBus(&I2CD1);

+  for (size_t i=0; i<6; i++) {

+    status = i2cMasterTransmitTimeout(&I2CD1, addr,

+                            accel_tx_data, 1, &accel_rx_data[i], 1, tmo);

+    osalDbgCheck(MSG_OK == status);

+    accel_tx_data[0]++;

   }

+  i2cReleaseBus(&I2CD1);

+  raw2g(accel_rx_data, accel_single_byte_check);

+

+  /* check results */

+  for (size_t i=0; i<3; i++) {

+    osalDbgCheck(fabsf(result[i] - accel_single_byte_check[i]) < check_threshold);

+  }

+#endif /* TEST_SINGLE_BYTE_READ */

 }

 

+